motor_ctl-3/User/Src/key_driver.c

#include "key_driver.h"

TrueOrFalse_Flag_Struct_t IsBreakTrig_Flag;
TrueOrFalse_Flag_Struct_t IsGearSensorTrig_Flag = FALSE;//变速传感器标志

Key_TypeDef Key_Break_Left;
Key_TypeDef Key_Break_Right;
Key_TypeDef Key_GearSensor;

/**********************局部函数定义************************/
void _GPIO_Read(Key_TypeDef* Key)
{
  uint8_t ReadData;
	
	if(HAL_GPIO_ReadPin(Key->GPIOx, Key->GPIO_Pin) == GPIO_PIN_RESET)
	{
	  if(Key->SwitchType == NormallyOpen)
		{
			ReadData = 0x01;
		}
		else
		{
		  ReadData = 0x00;
		}
	}
	else
	{
	  if(Key->SwitchType == NormallyOpen)
		{
			ReadData = 0x00;
		}
		else
		{
		  ReadData = 0x01;
		}
	}
	Key->Trg = ReadData & (ReadData ^ (Key->Cont));
	Key->Cont = ReadData;
}


void Key_Check(Key_TypeDef* Key, uint32_t DelayTime, TrueOrFalse_Flag_Struct_t* Flag)
{
	_GPIO_Read(Key);
	if(Key->Trg & 0x01)//表示有触发(下降沿)
	{
	  Key->PressFlasg  = 1;
		*Flag = TRUE;//有效信号
		Key->TimeCnt = HAL_GetTick();//计时赋初值
	}
	if(Key->PressFlasg == 1)//被触发一次
	{
	  if(Key->Cont == 0x00)//表示松开
	  {
			Key->TimeCnt = HAL_GetTick();
		  Key->PressFlasg = 0;
			*Flag = FALSE;//松开释放信号
	  }
	}
	if(*Flag == 1)//超时自动释放信号
	{
    if(DelayTime != 0) //超时设置值为0时不自动释放信号
		{
			if((HAL_GetTick() - Key->TimeCnt) > DelayTime)	 
			{
				Key->TimeCnt = HAL_GetTick();
				Key->PressFlasg = 0;
				*Flag = FALSE;//超时自动释放信号
			}	
		}	
	}
	else
	{
	  Key->TimeCnt = HAL_GetTick();
	}
	return;
}

/*****************************全局函数定义*****************************/
//按键GPIO初始化
void KeyInitial(void)
{
  GPIO_InitTypeDef GPIO_InitStruct;

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
	
	//初始化左刹车
	Key_Break_Left.GPIOx = GPIOC;
	Key_Break_Left.GPIO_Pin = GPIO_PIN_13;
	
	GPIO_InitStruct.Pin = Key_Break_Left.GPIO_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
	HAL_GPIO_Init(Key_Break_Left.GPIOx, &GPIO_InitStruct);
	
	Key_Break_Left.SwitchType = NormallyOpen;
	Key_Break_Left.PressFlasg = 0;
	Key_Break_Left.TimeCnt= 0;
	Key_Break_Left.Trg =0;
	Key_Break_Left.Cont =0;
	
	//初始化右刹车
	Key_Break_Right.GPIOx = GPIOC;
	Key_Break_Right.GPIO_Pin = GPIO_PIN_14;
	
	GPIO_InitStruct.Pin = Key_Break_Right.GPIO_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
	HAL_GPIO_Init(Key_Break_Right.GPIOx, &GPIO_InitStruct);
	
	Key_Break_Right.SwitchType = NormallyOpen;
	Key_Break_Right.PressFlasg = 0;
	Key_Break_Right.TimeCnt= 0;
	Key_Break_Right.Trg =0;
	Key_Break_Right.Cont =0;
	
	//初始化GearSensor
	Key_GearSensor.GPIOx = GPIOC;
	Key_GearSensor.GPIO_Pin = GPIO_PIN_15;
	
	GPIO_InitStruct.Pin = Key_GearSensor.GPIO_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
	HAL_GPIO_Init(Key_GearSensor.GPIOx, &GPIO_InitStruct);
	
	Key_GearSensor.SwitchType = NormallyOpen;
	Key_GearSensor.PressFlasg = 0;
	Key_GearSensor.TimeCnt= 0;
	Key_GearSensor.Trg =0;
	Key_GearSensor.Cont =0;
	
}

//刹车检测函数
void Break_Check(TrueOrFalse_Flag_Struct_t* BreakFlag)
{
  static TrueOrFalse_Flag_Struct_t IsBreakTrig_Left_Flag = FALSE;//刹车标志
  static TrueOrFalse_Flag_Struct_t IsBreakTrig_Right_Flag = FALSE;//刹车标志
	
	Key_Check(&Key_Break_Left, 0, &IsBreakTrig_Left_Flag);   //被触发时认为有效信号，松开时释放
	Key_Check(&Key_Break_Right, 0, &IsBreakTrig_Right_Flag); //被触发时认为有效信号，松开时释放
	
	*BreakFlag = (TrueOrFalse_Flag_Struct_t)((uint8_t)IsBreakTrig_Left_Flag & (uint8_t)IsBreakTrig_Right_Flag);
	
	#if 0
	static uint8_t BreakFlag_Debug;
	BreakFlag_Debug = (uint8_t)*BreakFlag;
	#endif
}

//GearSensor检测函数
void GearSensor_Check(TrueOrFalse_Flag_Struct_t *Flag)
{
	Key_Check(&Key_GearSensor, 1000, Flag);//被触发时认为有效信号，松开时释放或超时1000ms释放
	
	#if 0
	static uint8_t GearSensorFlag_Debug;
	GearSensorFlag_Debug = (uint8_t)*Flag;
	#endif
}